智能SCHIEBEL中文说明书

智能S C H I E B E L中文说明书(总8页)--本页仅作为文档封面，使用时请直接删除即可----内页可以根据需求调整合适字体及大小--智能SCHIEBEL调试文件智能SCHIEBEL是具有SMARTCON控制单元的智能型执行机构，它通过参数设置和内部程序控制，能有效增强控制的灵活性和舒适性，通过良好的人机界面交流，能最大限度发挥操作的简易性，它所具有的强大功能是其它执行机构所无法比拟的。

下面是对智能SCHIEBEL操作的简要介绍以及调试说明，供用户参考。

一、界面操作与LED提示灯介绍1. 界面与操作通过选择开关(红)可以选择三种不同的操作形式：OFF 停止L就地(LOCAL). 此时只有用操作开关才能操作执行机构动作.远程控制 (REMOTE). 此时执行机构的动作只接受系统来的信号，不受操作开关的手动控制.根据选择开关的位置,操作开关就能获得不同的功能:选择开关在“OFF”位置:操作开关被用来上、下翻动菜单,操作开关从中间旋向的方向,可用来观察数据记录状态（S项及H项） ,从中间旋向的方向可以观察参数菜单（P 项）在菜单里,选择开关具有对实际输入的确认和取消的功能，选择开关15度的旋转可用来确认或取消参数项里的各种输入（如果要修改参数请注意将左下角的“edit ”变为“save ”才能修改，如果要确认参数请注意将“save ”变为“edit ”）.如果在菜单中想快速返主界面，请将选择开关打到L位置即可。

选择开关在“REMOTE”位置这个状态是远程控制状态， 通过操作开关只可观察不同的数据记录，不能进行参数的设定选择开关在“LOCAL”位置操作开关被用来控制执行机构,既可以将开关置于机械保持位置使执行机构做持续运动，也可以通过小幅偏转使执行机构点动,.点动时操作开关都能通过弹簧回到中间位置2. LED 指示灯名称 颜色 亮闪烁 不亮 L1 红 开 正在开启 没到开位 L2 绿 关 正在关闭 没到关位 L3 黄 转矩正常 转矩故障---------------L4 黄就绪报警故障二、 调试说明调试是在确定机械安装和电气连接正确无误后方可进行！产品在出厂之前，参数都已按基本要求设置完成，请不要随意更改。

索引1.绪论2.简介总览序列号操作模式防护等级安装位置旋转方向保护装置环境温度执行机构的交货状况标签3.包装.运输和储存简介储存长期储存4.安装说明4.1. 机械安装4.2 接线5. 启动5.1.变换执行机构到手动5.2.预先机械调节5.3.机械位置指示的调节(操作)5.4.SMARTCON的参数控制5.5.附加元件6. SMARTCON控制6.1.界面6.2.显示原理6.3.操作7. 参数7.1 参数组: 限位7.2. 参数组: 转矩7.3.参数组: 密码7.4.参数组: 位置7.5. 参数组: 数字输入7.6. 参数组: 数字输出7.7.参数组: 位置信号(选项)7.8.参数组: 步进运动7.9.参数组: 远程位置调节器(选项)7.10.参数组: PID远程位置调节器(选项)7.11.参数组: Profibus(选项)7.12.参数组: 多样性7.13.参数组: 电路板7.14.参数组: 数据记录8. 状态菜单8.1.状态8.2.历史8.3.数据记录9. 红外线连接10. 维护11.故障诊断12.保险丝13.备件14.推荐使用润滑剂主要部分润滑剂使用年限润滑剂要求15.培训16.关于机械部件的声明17.综述18.技术参数SMARTCON控制智能型执行机构操作手册(CSC0502e) 1.绪论本手册适合于具有SMARTCON控制的AB型SCHIEBEL执行机构.通过使用RISC处理器,执行机构的控制单元能够提供比我们到目前为止所知的控制更多的灵活性和舒适性.应用范围为工业阀门的控制.例如旋塞阀, 闸阀,蝶阀以及球阀.如有其他的应用,请联系我们.对于超出指定使用范围以外的使用所造成的损坏,SCHIEBEL公司不予以负责.由用户自行承担责任.必须遵守操作说明书来使用执行机构，请用户务必于使用前阅读此手册在接电操作期间不可避免的部分部件会带电压.所以操作电气系统或设备必须由熟练的电工本人来执行，或者是在电工的监督和控制下经过培训的人员来完成,他们必须遵守电工规则.务必遵守维护使用说明书,否则就不能保证执行机构安全.长久的运行.不遵守警告和注意可能会导致严重的后果.操作人员必须十分地熟悉在操作说明中所有的警告和注意恰当的运输,正确的贮藏.合理的安装.小心的试车.精心的维护，只有如此才能从根本上保证无故障的安全运行.2.简介总览图1序列号每一个执行机构都有独自的序列号,也称之为装配号.序列号是一个8位数.起始为生产年限.它被刻于执行机构的标牌(见图2)上(执行机构的标牌位于手柄的下方见图3).在SCHIEBEL公司的产品记录上将序列号作为执行机构唯一的证明(型号,尺寸,运行,选项,技术数据和检查报告)图2图3用于防爆的执行机构(依照EN 50014 标准)单独使用专有标牌(Eex,TüV-标准)图4操作模式有两种截然不同的操作模式：依照VDE0530DE 的开环控制（操作模式S2，开关型）和闭环控制（操作模式S4）。

Intrusion DetectorReference Guide2 | Bosch Security SystemsTable of ContentsIntroduction3Blue Line Series6Commercial Series8Professional Series10Classic Line12RADION wireless18Specialty Sensors20Detector Reference Guide | 3Security you can rely onWhether you are securing a home, retail store, bank, museum, commercial business or government facility, you need dependability from your systems. With decades of experience and an unwavering dedication to high-quality and high-performing products, Bosch detectors provide best-in-class false alarm immunity and catch performance while minimizing installation time and complexity. Millions of residential and commercial users rely on Bosch for superior intrusion detection.Bosch is recognized throughout the security industry as a global leader in intrusion detection expertise. We have earned this reputation by consistently providing products that meet your needs with a focus on performance, reliability, durability, and ease of installation.Bosch detectors fulfill the requirements of standards allover the world. In the state-of-the-art Bosch laboratory, we verify that our detectors pass the most stringent requirements of each certification standard. Bosch also designs its own, even more demanding, tests to ensure the detectors are virtually immune to environmental disturbances. As a result, false alarm protection and catch performance exceed the requirements of any single country. With Bosch detectors, there is no hiding place for intruders and zero tolerance for false alarms.4| Bosch Security SystemsWall-to-Wall coverageExcellent catch performanceFirst Step Processing intelligently analyzes motionfor an almost instant response to intruders. Thedetectors automatically adjust to their environment bycompensating for temperature fluctuations, so you areguaranteed optimal performance regardless of changesin room conditions.For more challenging applications, models with SensorData Fusion technology employ a sophisticated softwarealgorithm to analyze signals from multiple sensors,including microwave, temperature, and white light levels,to make the most intelligent alarm decisions in thesecurity industry.No more false alarmsBosch detectors feature Microwave Noise AdaptiveProcessing to easily differentiate humans from falsealarm sources, such as a ceiling fan or hanging sign.For increased reliability, dual sensors process the PIR andmicrowave Doppler radar signals independently and mustagree there is an alarm before the relay activates. Thesealed optical chamber also prevents drafts and insectsfrom affecting the detector. Bosch pet and small animalimmunity provides optimal sensitivity for any application.Minimize time on the ladderBosch detectors include a number of uniquedesign features to help you get the job done fasterand more reliably.▶ A self-locking, two-piece enclosure means no more lostscrews and an easy snap-to-lock installation▶ Integrated biaxial bubble level eliminates the guessworkto ensure proper alignment, requiring one lessinstallation tool▶ The removable, gap-free, liftgate-style terminal stripr educes mounting time to mere seconds and preventsincorrect wiring to eliminate future service calls▶ Optics and electronics are assembled into the frontenclosure and sealed with a protective cover to preventdamage during installation▶ A flexible mounting height makes positioning thedetector easy, and you get no-gap coverage withoutany optical or electronic on-site adjustmentsDetector Reference Guide | 5Ideal for any applicationIntelligent intrusion detection is a delicate balance between responding to real security breaches and ignoring sources of costly false alarms. Bosch offers a choice of detector models that set the standard for reliability and rapid detection.Our intrusion detectors suit the requirements of virtually any application — from residential to large commercial to high security. They stand up to multiple challenges, including strong drafts, moving objects, and the presence of pets.Our complete line includes:▶ Passive Infrared (PIR) and TriTech®(Combination PIR and microwave Dopper radar) – Long-range – 360° ceiling mount – Pet friendly®▶ Request-to-exit PIR ▶ Glass break ▶ Seismic and shock ▶ Photoelectric beam▶ Wireless communication6| Bosch Security SystemsBlue Line Gen2 Series Detection is PowerPIRStandardPet Friendly®Quad PIR* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useDetector Reference Guide | 7 TriTech® (PIR + MW)Standard Pet Friendly®8| Bosch Security SystemsCommercial SeriesDetection delivered. Reliability assured.TriTech (PIR + MW)StandardAnti-maskas curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useDetector Reference Guide | 910| Bosch Security SystemsProfessional SeriesIntelligent Motion DetectionPIRTriTech® (PIR + MW)StandardAnti-maskStandard* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useTriTech® (PIR + MW)Anti-mask CurtainAnti-mask CurtainClassic Line Long Range PIRLong-range* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useTriTech® (PIR + MW)Long-range OutdoorClassic Line Ceiling Mount PIRCurtain Wide angleLow-profile Panoramicas curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor usePIR TriTech®(PIR + MW)PIR TriTech® (PIR + MW)PanoramicHigh-Performance PanoramicPIRRecessedas curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useRADION wireless†Superior Range and Reliability PIR TriTech® (PIR + MW) Pet Friendly® Standard Pet Friendly® Curtain Pet Friendly®Standard† Wireless peripherals require a compatible receiver. B810 RADION receiver is compatible with SDI2 bus panels (B Series and G Series); RFRC-OPT is compatible with Option bus panels; RFRC-STR is compatible with Streamline bus panels.* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useGlass break Door/Window Contacts OtherAcoustic Surface Mount RecessedMount Universal Transmitter SmokePortable Other Keyfob Panic Button Bill TrapPremises Wireless (ZigBee) RADION ZB PIR TriTech® (PIR+MW) StandardStandard* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86°F (30°C), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32° to 120°F (0° to 49°C), indoor use.*** Power source has capacity for an additional battery increasing the battery life from 6 to 10 years (RFPR-ZB) or from 3 to 6 years (RFDL-ZB).**** All models feature a two-piece design, self-locking enclosure, interchangeable mounting base and integrated bubble level.Specialty Request-to-exit PIRStandardHigh-performance* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useSpecialty Glass Break AcousticStandardComboMagneticContactSpecialty Photoelectric Beam Dual BeamShort RangeMedium Range* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useSpecialty Photoelectric Beam Quad BeamMedium RangeLong Range* QS — single channel QF — four channelSpecialty Seismic/ShockSeismic Shock StandardHigh-performanceStandard* Difficult environments include rooms with potential false alarm sources, such as: air conditioning vents, strong drafts of cold or warm air, slow moving objects such as curtains, plants, or signs hanging from the ceiling, a fan that could be running when the system is activated, under floor heating, room temperatures exceeding 86℉ (30℃), a detector that could be exposed to bright white light (car headlights, floodlights, direct sunlight, etc.)** For UL installations the operating range is 32℉ to 120℉ (0℃ to 49℃), indoor useN e wAccessoriesNotesDetector Reference Guide | 31 NotesA Tradition of Quality and Innovation For 125 years, the Bosch name has stood for quality and reliability. Bosch is the global supplier of choice for innovative technology backed by the highest standards for service and support. Bosch Security Systems proudlyoffers a wide range of security, safety, communications and sound solutions that are relied upon every day in applications around the world, from government facilities and public venues to businesses, schools and homes. Bosch Security Systems, Inc.130 Perinton ParkwayFairport, NY 14450 USAPhone: 800.289.0096Fax: 585.223.9180For more information please visit © Bosch Security Systems, 2016 Modifications reservedPrinted in United States | 10/16BINBR_DETECT-REF_v20161028。

手指按压示意图正确的手指按压示意※指纹纹心尽量对正窗口中心不可倾斜侧面不要太靠一边不要太靠底部不要用侧面技术指标目录1、指纹考勤机的基本操作 (1)1.1指纹考勤机的用户 (1)1.2指纹考勤机的登记方式 (1)1.3指纹考勤机的密码 (1)1.4指纹考勤机的工作状态 (1)1.5指纹考勤机记录的数据 (2)1.6指纹考勤机的功能设置 (3)1.6.1 系统设置 (3)1.6.2 记录设置 (4)1.6.3 通讯设置 (5)2、指纹考勤机的一般操作 (5)2.1键盘 (5)2.2菜单 ..........................................................................错误！未定义书签。

2.3菜单结构图 (6)2.4第一次使用时的操作 (9)2.5考勤状态下的使用方法 (9)2.6管理者操作状态的操作步骤 (11)3、指纹考勤机的管理者操作方法 (12)3.1数据管理 (13)3.1.1 用户登记 (13)3.1.2 指纹登记 (15)3.1.2.1 新用户登记 (15)3.1.2.2 备份登记 (17)3.1.3密码登记 (20)3.1.3.1 新用户登记 (21)3.1.3.2 备份登记 (22)3.1.4 指纹及密码 (23)3.1.4.1 新用户登记 (23)3.1.4.2 备份登记 (25)3.1.5 管理者登记 (25)3.1.6 删除登记数据 (26)3.1.7 查看考勤记录 (28)3.1.8 查看管理记录 (29)3.1.9 删除全部记录 (29)3.2设置 (30)3.2.1 系统设置 (31)3.2.2 管理者总数 (31)3.2.3 机号 (32)3.2.4 时间设置 (33)3.2.5 语言 (33)3.2.6 锁驱动 (33)3.2.7 自动关机 (34)3.2.8 记录设置 (34)3.2.9 管理记录警告 (34)3.2.10 考勤记录警告 (35)3.2.11 重复确认时间 (35)3.2.12 通讯设置 (35)3.2.13 波特率 (36)3.2.14 奇偶校验 (36)3.2.15 停止位 (36)3.2.16 系统信息 (36)4、与计算机通信 (38)4.1连接指纹考勤机 (38)4.2考勤统计 ..................................................................错误！未定义书签。

Siebel实用工具软件用户手册汉得信息技术股份有限公司版本号：V1.0 Beta版序言Siebel实用小工具是基于基于Microsoft .NET Framework开发的一个小软件,目的在于提高日常项目实施中的工作效率,避免一些重复性的劳动.其主要功能有：对文本的各种简单处理，最常用的有，对数据进行OR连接，可以方便的实现在siebel应用的查询，对数据进行sql中in字句的连接，可以方便的将数据插入到sql的语句中。

对文本进行按照给定数据的拆分，以及替换，使用非常方便快捷。

对文本进行查重、去重、对比等各种功能。

对剪贴板进行监控，可以方便的获取数据，方便的生成ldap的ldif文件、db的sql脚本等可以按照模板发送邮件等，可以用在期初上线发送用户名以及密码给客户。

可以获取数据库中的eScript脚本第一章软件安装与初始化Siebel实用小工具是一个免安装工具，双击运行目录下的Siebel实用工具.exe即可运行。

但是前提是您的电脑中安装有Microsoft .NET Framework，否则程序无法打开启动页面，可能会报如下错误：/downloads/zh-cn/details.aspx?FamilyID=39C8B6 3B-F64B-4B68-A774-B64ED0C32AE7可通过以上地址下载安装Microsoft .NET Framework。

若可以成功打开，则能看到如下界面：第二章操作说明2.1 期初配置2.2 功能说明2.2.1 文本操作2.2.2 其它操作2.1 参数配置文件在软件的目录下面有文件夹config下面对每个参数做一个简单的讲解：●emailLAddressform：用与发送邮件的时候使用，可不填写！●emailLAddressto：用与发送邮件的时候使用，可不填写！●emailLAddresspassword：用与发送邮件的时候使用，可不填写！●emailLAddresssmtp：用与发送邮件的时候使用，可不填写！●REG_HOT_KEY：用户判断是否开启注册SHIFT+X按键的热键●DEVPODBCDCN：配置一个开发环境的odbc信息，用户获取脚本时使用，可不填写●DEVPODBCDataBase配置一个开发环境的odbc信息，用户获取脚本时使用，可不填写●DEVPODBCUID配置一个开发环境的odbc信息，用户获取脚本时使用，可不填写●DEVPODBCPWD配置一个开发环境的odbc信息，用户获取脚本时使用，可不填写2.2.1 文本功能操作如图所示，在图中上方的框中随便输入一段信息，点击【使用OR连接】,可以得到以OR连接的方便siebel查询的字符串。

西贝智能执行器调试说明MAXONIC 万讯自控 MAXONIC 万讯自控 MAXONIC 万讯自控智能SCHIEBEL调试操作说明智能SCHIEBEL是具有SMARTCON控制单元的智能型执行机构，它通过参数设置和内部程序控制，能有效增强控制的灵活性和舒适性，通过良好的人机界面交流，能最大限度发挥操作的简易性，它所具有的强大功能是其它执行机构所无法比拟的。

下面是对智能SCHIEBEL操作的简要介绍以及调试说明，供用户参考。

一、界面操作与LED提示灯介绍1. 界面与操作通过选择开关(红)可以选择三种不同的操作形式:OFF 停止L就地(LOCAL). 此时只有用操作开关才能操作执行机构动作.远程控制 (REMOTE). 此时执行机构的动作只接受系统来的信号，不受操作开关的就地控制，但可查阅菜单. 如果须手动操作执行机构，请勿必先将两开关放到中间位置～再压下手柄，转动手轮即可实现手动(手动时禁止将红色选择开关打到状态～执行机构在电动运行状态时禁止压手柄～)，如遇手柄压不下去，请先空转手轮再压手柄。

根据选择开关的位置,操作开关就能获得不同的功能:选择开关在“OFF”位置:操作开关被用来上、下翻动菜单,操作开关从中间旋向的方向,可用来观察数据记录状态(S项及H项) ,从中间旋向的方向可以观察参数菜单(P项)与您共享世界新技术成果 We build automation success in ChinaPage 1MAXONIC 万讯自控 MAXONIC 万讯自控 MAXONIC 万讯自控在菜单里,选择开关具有对实际输入的确认和取消的功能，选择开关15度的旋转可用来确认或取消参数项里的各种输入(如果要修改参数请注意将左下角的“edit”变为“save”才能修改，如果要确认参数请注意将“save”变为“edit”).如果在菜单中想快速返主界面，请将操作开关放到中间，选择开关打到L位置后即可。

选择开关在“REMOTE”位置这个状态是远程控制状态，通过操作开关只可观察不同的数据记录，不能进行参数的设定选择开关在“LOCAL”位置操作开关被用来控制执行机构,既可以将开关置于机械保持位置使执行机构做持续运动，也可以通过小幅偏转使执行机构点动,.点动时操作开关都能通过弹簧回到中间位置2. LED指示灯各指示灯不同状态所表示的含义名称颜色亮闪烁不亮L1 红开正在开启没到开位L2 绿关正在关闭没到关位L3 黄转矩正常转矩故障 ---------------L4 黄就绪报警故障二、参数菜单项说明在执行机构菜单中共有P项(组态参数)、S项(数据记录)和H项(历史记录)，P 项在后面调试说明和参数设置中将详细讲述。

Models:Copyright © 2012 by Schilling Robotics, LLC. All rights reserved.Schilling Robotics, the FMC Technologies logo, and their frameworks are trademarks and service trademark applications of FMC Technologies. No part of this document may be reproduced or used in any form without the express written permission of FMC Technologies. Descriptions and specifications are subject to change without notice.FMC Technologies Schilling Robotics260 Cousteau Place, Suite 200, Davis, CA 95618 • Ph: (530) 753-6718 • Fax: (530) 753-8092 E-mail: ******************* • ************************** • Customer**********************Web Site: TECHNICAL MANUAL REVISION LOGTitan 4 Manipulator System, Model Nos. 199-0295, 0295PAL, 0296, 0299,0299-1, 0300, 0301, 0302, 0307, 0308-1, 2, 3, 4, 7, 8TECHNICAL MANUAL: 011–8239Description Date Rev.Manual release March, 2012AT4 O7P compatible, 8 pin 20 shell burton connector June, 2012BTable of ContentsSpecifications1 System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91.1 Electrical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.2 Telemetry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Password. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93 Slave Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103.2 Electrical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103.3 Slave Arm Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103.4 Slave Arm Dimensions & Range of Motion. . . . . . . . . . . . . . . 113.5 Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Master Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.2 Electrical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Environmental. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116 Hydraulics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116.1 Fluids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116.2 System Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128 Custom Features or Modifications. . . . . . . . . . . . . . . . . . .12 Installation1 User-Supplied Equipment . . . . . . . . . . . . . . . . . . . . . . . . .132 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . .133 Mechanical Installation. . . . . . . . . . . . . . . . . . . . . . . . . . .133.1 Slave Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133.2 Compensator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143.3 Junction Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153.4 Master Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 Electrical Power & Telemetry Connections . . . . . . . . . . . .164.1 Telemetry Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 164.2 Long-Line Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Page 34.3 Deck-Test Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . .185 Completing the Installation. . . . . . . . . . . . . . . . . . . . . . . .19Operation1 The Master Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . .231.1 Master Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241.2 LCD Display Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241.3 Function Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241.4 Control Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241.5 Power Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241.6 Auxiliary Jaw Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .251.7 Menu Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .251.8 Baud Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262 Using the Master Controller. . . . . . . . . . . . . . . . . . . . . . . .262.1 Master Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262.2 Slave Arm Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .272.3 Controlling Slave Arm Hydraulics . . . . . . . . . . . . . . . . . . . . .282.4 Controlling Auxiliary Equipment . . . . . . . . . . . . . . . . . . . . . .292.5 Menu Security. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .292.6 Incompatibility Alert Screens . . . . . . . . . . . . . . . . . . . . . . . .293 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .303.1 Pre-Start Checks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .303.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .303.3 Using the STOW OUT Menu . . . . . . . . . . . . . . . . . . . . . . . . .323.4 Using the MAIN Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . .323.5 Using the OPERATE Menu. . . . . . . . . . . . . . . . . . . . . . . . . . .343.6 Using OPERATE Menu Options. . . . . . . . . . . . . . . . . . . . . . . .363.7 Using the SHUT DOWN Menu . . . . . . . . . . . . . . . . . . . . . . . .403.8 Shut Down Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . .413.9 Operating the Optional Wrist Camera. . . . . . . . . . . . . . . . . . .414 Setting Performance Options. . . . . . . . . . . . . . . . . . . . . . .414.1 Using the OPTIONS Menu. . . . . . . . . . . . . . . . . . . . . . . . . . .414.2 Using the SETUP Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . .434.3 Enhancing the Slave Arm Position Data Stream . . . . . . . . . . .505 System Errors & Warnings. . . . . . . . . . . . . . . . . . . . . . . . .505.1 Startup with System Warnings . . . . . . . . . . . . . . . . . . . . . . .505.2 Startup with System Errors . . . . . . . . . . . . . . . . . . . . . . . . .515.3 ERR (Error) Message During Operation . . . . . . . . . . . . . . . . .525.4 Using the SHOW ERRORS Menu . . . . . . . . . . . . . . . . . . . . . .525.5 Enabling & Disabling System Error Checking. . . . . . . . . . . . . .555.6 Diagnosing Master/Slave Problems . . . . . . . . . . . . . . . . . . . .565.7 Fatal Telemetry Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . .566 Avoiding Slave Arm Damage . . . . . . . . . . . . . . . . . . . . . . .56 Troubleshooting1 Preliminary Fault Isolation Procedures. . . . . . . . . . . . . . .57Page 4Table of Contents1.1 Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572 Diagnosing Master/Slave Joint Problems. . . . . . . . . . . . .582.1 Uncontrolled Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 582.2 The Stow In/Stow Out Test. . . . . . . . . . . . . . . . . . . . . . . . . 582.3 Diagnosis with the MASTER TEST Screen . . . . . . . . . . . . . . . 592.4 Diagnosis with the Slave Test Screen . . . . . . . . . . . . . . . . . . 603 Diagnosing Key and Freeze Button Failures . . . . . . . . . . .624 Troubleshooting Tables. . . . . . . . . . . . . . . . . . . . . . . . . . .634.1 Screen-Displayed Symptoms. . . . . . . . . . . . . . . . . . . . . . . . 634.2 Master Arm Symptoms. . . . . . . . . . . . . . . . . . . . . . . . . . . . 654.3 Slave Arm Symptoms (Entire Arm). . . . . . . . . . . . . . . . . . . . 664.4 Slave Arm Symptoms (Individual Joints). . . . . . . . . . . . . . . . 674.5 Jaw Symptoms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684.6 System Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694.7 Fatal Telemetry Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715 Using the Status Indicator LEDs . . . . . . . . . . . . . . . . . . . .725.1 Slave Controller PCB LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . 725.2 Master Controller PCB Status LEDs. . . . . . . . . . . . . . . . . . . . 726 Master Controller Voltage Test Points. . . . . . . . . . . . . . . .737 Factory Assistance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74 Maintenance & Service1 Safety First . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .751.1 Worksite Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 751.2 Electrical Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761.3 Mechanical Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761.4 Hydraulic Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761.5 Deck Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772 Service Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .772.1 Service Assumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772.2 Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 782.3 Startup After Maintenance or Service . . . . . . . . . . . . . . . . . . 793 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .803.1 Daily Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 803.2 Long Term Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . 803.3 Cable & Penetrator Maintenance . . . . . . . . . . . . . . . . . . . . . 814 Junction Box Service. . . . . . . . . . . . . . . . . . . . . . . . . . . . .824.1 Fuse Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 825 Master Controller Service & Configuration . . . . . . . . . . . .825.1 Accessing Internal Components. . . . . . . . . . . . . . . . . . . . . . 825.2 Adjusting the LCD Screen Viewing Angle. . . . . . . . . . . . . . . . 835.3 Changing the System Baud Rate . . . . . . . . . . . . . . . . . . . . . 835.4 Master Controller Software Selection . . . . . . . . . . . . . . . . . . 845.5 Incompatibility Alert Screens. . . . . . . . . . . . . . . . . . . . . . . . 86Table of Contents Page 56 Slave Arm Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .896.1 Slave Arm Filter Replacement and Cleaning . . . . . . . . . . . . . .896.2 Emergency Manual Slave Arm Manipulation . . . . . . . . . . . . . .916.3 Recovery from Water Intrusion. . . . . . . . . . . . . . . . . . . . . . .926.4 Remove & Install Optional Camera . . . . . . . . . . . . . . . . . . . .947 System Adjustments & Configuration . . . . . . . . . . . . . . . .977.1 Setting Servo Valve Voltage Offsets. . . . . . . . . . . . . . . . . . . .977.2 Changing the Communication Protocol. . . . . . . . . . . . . . . . . .987.3 Changing the System Baud Rate. . . . . . . . . . . . . . . . . . . . . 1008 Service & Work Instructions . . . . . . . . . . . . . . . . . . . . . 1008.1 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018.2 Instructions for Serviceable Components. . . . . . . . . . . . . . . 1018.3 Startup Following Maintenance or Service . . . . . . . . . . . . . . 101 Drawings & Part Lists1 Organization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1432 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1432.1 Manipulator System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1432.2 Deck Test Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1432.3 Slave Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1442.4 Master Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1452.5 Junction Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1452.6 Hydraulic Compensator . . . . . . . . . . . . . . . . . . . . . . . . . . . 1452.7 Spares Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1453 Reference Drawings. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1454 Spares Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2944.1 Standard Spares Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2944.2 Enhanced Spares Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3034.3 Enhanced Spares Sub-Kits . . . . . . . . . . . . . . . . . . . . . . . . . 307Page 6Table of ContentsSafety & Service SummaryPrecautionary NoticesThis manual provides precautionary notices which carry important information about safety risks to personnel and damage to equipment while installing, operating, servic-ing, or maintaining this equipment.The form and significance of the notices are shown below.!WARNINGA WARNING alerts you to a risk of injury or loss of life. It may also include instructions to help minimize or eliminate the risk.!CautionA CAUTION alerts you to a risk of equipment damage or loss.It may also include instructions to help minimize or elimi-nate the risk.NOTE: The absence of WARNING and CAUTION notices does not meanthat risk is absent. Always use appropriate safety procedures, equipment,and personal protective equipment (PPE) when operating and servicing thisequipment.Service AssumptionThis manual assumes that service personnel are familiar with the general operating principles, safety guidelines, and service practices associated with the types of equip-ment represented in this manual.Table of Contents Page 7Security PasswordModel No.__________________________Serial No.__________________________Level 5 PasswordThis is your level 5 password: 1357!WARNINGMisuse of the menus accessible with this password cancause malfunctions of the manipulator system, injury to per-sonnel, and/or damage to equipment.The password for security level 5 is set at the factory and cannot be changed. It pro-vides access to all configurable system menus, including those for setting other secu-rity levels and passwords for other operators. See the OPERATION module in your technical manual for complete information on how to use the level 5 password. Temporary Password, Levels 1-4The temporary password 0000 is provided for access to security levels 1 through 4 during installation and first startup. This password can be changed to meet your security level requirements.Security Level 0Security level 0 is the default level, always available at system startup and requiring no password. While permitting operation, it restricts access to almost all system con-figuration menus and security features. An operator using a correctly configured manipulator should need no higher privilege level. Levels above 0 require passwords and allow access to specific manipulator system configuration menus.Page 8Table of ContentsSpecificationsIn This Chapter:•1System.........................................................................page 9•2Password.......................................................................page 9•3Slave Arm...................................................................page 10•4Master Controller..........................................................page 11•5Environmental..............................................................page 11•7Compensation..............................................................page 12•8Custom Features or Modifications...................................page 12NOTE: The specifications in this chapter apply to the systems listed on the title page, ex-cept as noted. The components specific to each system are itemized in the 199-level partlists at the end of the “Drawings & Part Lists” chapter.1System1.1ElectricalSystem supply at junction box . . . . . . . . . 90 to 260 VAC, 50-60 Hz, single-phase1.2TelemetryDefault protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RS-232User-selectable option. . . . . . . . . . . . . . . . . . . . . . .RS-422/-485 half-duplex 2-wireNOTE: RS-485 full-duplex telemetry (4-wire) is not supported.Default baud . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19200User-selectable options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57600 and 115200 baudNOTE: At 57600 and 115200 baud, additional slave arm joint position data is added toeach data packet, however third-party software is needed to utilize it.2PasswordAccess to some master controller menus is password protected. A password information sheet follows the “Table of Contents” section.011–0929Page 9• Specifications3Slave Arm3.1SpecificationsDepth rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4,000 msw (13,124 fsw)Maximum reach . . . . . . . 1,922 mm (75.7 in.) (from azimuth to gripper T-bar slot)Weight in air . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 kg (221 lb)Weight in seawater . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 kg (174 lb)NOTE: Performance specifications use the standard system configuration with ShellTellus Oil 32 hydraulic fluid, input pressure of 207 bar (3,000 psi) and available flow of19 lpm (5 gpm).Lift at full extension, nominal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 kg (270 lb)Maximum lift, nominal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454 kg (1,000 lb)Maximum gripper opening (standard gripper), nominal . . . . . . . . 99 mm (3.9 in.)Grip force, nominal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4,092 N (920 lbf)Wrist torque, nominal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 Nm (125 ft-lb)Wrist rotation, continuous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360°, 6-35 rpm3.2ElectricalConnectorThe slave arm connector to system power and telemetry varies with the Titan 4 model. See the 199- part list for this system model.Input power:Slave arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 VDC Power consumption:Slave in-arm controller plus solenoid . . . . . . . . . . . . . . . . . . . . 6 W start, 12 W runSlave arm current draw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.875 A, at 24 VDC3.3Slave Arm FunctionsAzimuth Rotary240°Shoulder pitch Linear120°Elbow pitch Rotary270°Wrist pitch Rotary180°Wrist yaw Rotary180°Wrist rotate Gerotor360° continuousJaw (standard)Linear99mm (3.9-in.)Page 10 • Slave Arm 011–0929Specifications •011–0929 Master Controller • Page 113.4Slave Arm Dimensions & Range of MotionSee the slave arm drawing in the “Drawings & Part Lists” chapter for:Ranges of motionExtended dimensionsStow dimensions Mounting dimensions3.5SensorWater detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .forearm 4Master Controller4.1SpecificationsLength . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470 mm (18.5 in.)Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 mm (7.0 in.)Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 mm (2.6 in.)Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.7 kg (8.2 lb)4.2ElectricalInput power:Master controller . . . . . . . . . . . . . . . . . . . . 90 to 260 VAC, 50-60 Hz, single-phase Power consumption:Master controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 W start, 3 W run 5EnvironmentalOperating temperature . . . . . . . . . . . . . . . . . . . . . . . . -2 to +54° C (+28 to +130° F)Storage temperature . . . . . . . . . . . . . . . . . . . . . . . . . . -15 to +71° C (+5 to +160 ° F)Humidity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 0% to 100% condensing 6Hydraulics6.1FluidsSelect a hydraulic fluid based on its maximum temperature during normal operations.Lower than 54°C (130°F): Use 22 grade oil.Higher than54°C (130°F): Use 32 grade oil. For temperatures above 71°C (160°F), below 0°C (32°F), or when in doubt about which fluid to use, contact your regional technical support representative.Do not use water-based fluids.If a fluid has been specified for this system to meet special environmental or oper-ational requirements, use it and disregard the parameters listed above.• Specifications6.2System RequirementsViscosity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 - 200 cStAvailable flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.7 - 19.0 lpm (1.5 - 5.0 gpm)Pressure. . . . . . . . .103 bar (1,500 psi) minimum to 207 bar (3,000 psi) maximumNOTE: Slave arm performance specifications are determined at maximum pressureand flow. Performance diminishes when pressure or flow are reduced.Hydraulic fluid temperature, maximum . . . . . . . . . . . . . . . . . . . . . . . .54° C (130° F)Return pressure, maximum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34.5 bar (500 psi)Filtration, hydraulic supply. . . . . . . . . . . . . . . . . . 3 microns (10 microns absolute)NOTE: Use of the recommended filtration will reduce the need to clean or replace theslave arm’s internal hydraulic filter (10 microns, 25 microns absolute).Return relief valve cracking pressure, nominal . . . . . . . . . . . . . . 500 psi (34.5 bar)Customer-supplied mating fittings required:Supply hose fitting -4 JIC female, 1/4-in.Return hose fitting -6 JIC female, 3/8-in.7CompensationFluid requirement . . . . . . . . . . . . . . . . . . . . . . . . Non-conductive, non-water basedCompensator fluid capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 l (0.58 gal)Slave arm fluid capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.6 l (2.54 gal)System total fluid capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.8 l (3.12 gal.)Fluid pressure (above ambient) . . . . . . . . . . . . . . . . . . 0.48 to 0.69 bar (7 to 10 psi)Relief valve cracking pressure, nominal . . . . . . . . . . . . . . . . . . . . . . .1.4 bar (20 psi)8Custom Features or ModificationsAny custom features or modifications present on the supplied Manipulator System are described on the following page(s).Page 12 • Compensation 011–0929。